<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: gpu/people/include/pcl/gpu/people/tree_train.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('tree__train_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">tree_train.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* *************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * Copyright (2011) Willow Garage</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Author : Cedric Cagniart </span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * ************************************************* */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_PEOPLE_TREE_TRAIN_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define PCL_GPU_PEOPLE_TREE_TRAIN_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;tree.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;boost/array.hpp&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keyword">namespace </span>people</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      <span class="keyword">namespace </span>trees</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;      {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        <span class="comment">// ################################################</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <span class="comment">// ################################################</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        <span class="comment">// histogram stuff</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keyword">class </span>Histogram : <span class="keyword">public</span> boost::array&lt;uint32_t,NUMLABELS&gt; {</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;          public :</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;          <span class="keyword">inline</span> Histogram() { std::fill(begin(), end(), 0); }</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        };</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram_pair.html">   30</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram_pair.html">HistogramPair</a> {</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;          public :</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;            <span class="comment">// accumulate on the histograms</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span> accumTrue(<span class="keyword">const</span> Label label ) {</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;              m_h_true[label]++;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;            }</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span> accumFalse(<span class="keyword">const</span> Label label ) {</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;              m_h_false[label]++;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;            }</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;            <span class="keyword">inline</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">Histogram</a>&amp; h_false() { <span class="keywordflow">return</span> m_h_false; }</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;            <span class="keyword">inline</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">Histogram</a>&amp; h_true() { <span class="keywordflow">return</span> m_h_true; }</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">Histogram</a> h_false()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_h_false; }</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">Histogram</a> h_true()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_h_true; }</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;          protected :</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">Histogram</a> m_h_false;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;            <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">Histogram</a> m_h_true;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        };</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="comment">// ###############################################</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="comment">// ###############################################</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="comment">// SplitPoint</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_split_point.html">   54</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_split_point.html">SplitPoint</a>{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_split_point.html">SplitPoint</a>( <span class="keywordtype">int</span> ai, Attrib t):attribId(ai), threshold(t){}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;          <span class="keywordtype">int</span>    attribId;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;          Attrib threshold;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        };</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="comment">// ###############################################</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="comment">// ###############################################</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="comment">// Data Structures as stored in binary files</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_attrib.html">   63</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_attrib.html">LabeledAttrib</a> {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_attrib.html">LabeledAttrib</a>(){}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_attrib.html">LabeledAttrib</a>( <span class="keyword">const</span> Label&amp; label, <span class="keyword">const</span> Attrib&amp; attrib): l(label), a(attrib){}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;          Label l;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          Attrib a;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        };</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="comment">// this is only going to be a helper structure</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_feature.html">   71</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_feature.html">LabeledFeature</a> {  <span class="comment">// : boost::noncopyable {</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="comment">// constructors</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_feature.html">LabeledFeature</a>(): l(NOLABEL){</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_feature.html">LabeledFeature</a>( <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_feature.html">LabeledFeature</a>&amp; B){</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;            l = B.l;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            std::copy( B.attribs, B.attribs + NUMATTRIBS, attribs );</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          Label  l; <span class="comment">// WARNING the compiler will pad here</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          Attrib attribs[NUMATTRIBS];</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        };</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;         <span class="comment">// compute the number of elements</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> uint64_t numElements( <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">Histogram</a>&amp; h ) {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          uint64_t Ntotal = 0;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> li=0;li&lt;NUMLABELS;++li) Ntotal += uint64_t(h[li]);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <span class="keywordflow">return</span> Ntotal;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> entropy( <span class="keyword">const</span> <a class="code" href="structpcl_1_1_histogram.html">Histogram</a>&amp; h ) {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keywordtype">double</span> Ntotal = numElements(h);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <span class="keywordtype">double</span> entropy = 0.;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> li=0;li&lt;NUMLABELS;++li) {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <span class="keywordflow">if</span>( h[li] != 0 ) {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;              <span class="keywordtype">double</span> p = double(h[li]) / Ntotal;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;              entropy -= p*log(p);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <span class="keywordflow">return</span> entropy;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> entropy_merged( <span class="keyword">const</span> HistogramPair&amp; hp ) {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keyword">const</span> Histogram&amp; htrue  = hp.h_true();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <span class="keyword">const</span> Histogram&amp; hfalse = hp.h_false();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          <span class="keywordtype">double</span> Ntotal = numElements(htrue) + numElements(hfalse);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keywordtype">double</span> entropy = 0.;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> li=0;li&lt;NUMLABELS;++li) {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            uint64_t Ni = uint64_t(htrue[li]) + uint64_t(hfalse[li]);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            <span class="keywordflow">if</span>( Ni != 0) {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;              <span class="keywordtype">double</span> p = double(Ni) / Ntotal;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;              entropy -= p*log(p);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          <span class="keywordflow">return</span> entropy;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> informationGain( <span class="keyword">const</span> HistogramPair&amp; hp) {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          <span class="keywordtype">double</span> e0 = entropy_merged(hp);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <span class="keywordtype">double</span> etrue  = entropy(hp.h_true());</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          <span class="keywordtype">double</span> efalse = entropy(hp.h_false());</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <span class="keywordtype">double</span> Ntrue  = numElements(hp.h_true());</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <span class="keywordtype">double</span> Nfalse = numElements(hp.h_false());</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <span class="keywordtype">double</span> Ntotal = Ntrue + Nfalse;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          <span class="comment">// lets avoid division by 0 </span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keywordflow">if</span>( Ntotal == 0 ) <span class="keywordflow">return</span> 0.;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <span class="keywordflow">return</span> e0 - (Ntrue/Ntotal)*etrue - (Nfalse/Ntotal)*efalse;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            <span class="comment">// #########################################</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="comment">// #########################################</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="comment">// Reading and writing histograms</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> std::ostream&amp; operator &lt;&lt; (std::ostream&amp; os, <span class="keyword">const</span> Histogram&amp; h) {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> li=0;li&lt;NUMLABELS;++li) os&lt;&lt; h[li]&lt;&lt;<span class="stringliteral">&quot; &quot;</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          os&lt;&lt;<span class="stringliteral">&quot;\n&quot;</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordflow">return</span> os;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> std::istream&amp; operator &gt;&gt; (std::istream&amp; is, Histogram&amp; h) {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> li=0;li&lt;NUMLABELS;++li) is &gt;&gt; h[li];</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keywordflow">return</span> is;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="comment">// #######################################</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="comment">// #######################################</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="comment">// reading and writing histogram Pairs</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> std::ostream&amp; operator &lt;&lt; ( std::ostream&amp; os, <span class="keyword">const</span> HistogramPair&amp; hp) {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          os &lt;&lt; hp.h_false();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          os &lt;&lt; hp.h_true();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          <span class="keywordflow">return</span> os;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> std::istream&amp; operator &gt;&gt; ( std::istream&amp; is, HistogramPair&amp; hp) {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          is &gt;&gt; hp.h_false();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          is &gt;&gt; hp.h_true();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          <span class="keywordflow">return</span> is;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="comment">// #########################################</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="comment">// #########################################</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="comment">// Reading and writing LabeledFeature Vectors ( label + collection of attrib )</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> writeLabeledFeatureVec( std::ostream&amp; os, <span class="keyword">const</span> std::vector&lt;LabeledFeature&gt;&amp; lfs ){</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          os.write( (<span class="keyword">const</span> <span class="keywordtype">char</span>*)&amp;lfs[0], <span class="keyword">sizeof</span>(LabeledFeature)*lfs.size() );</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="comment">//    static void readLabeledFeature( std::istream&amp; is, LabeledFeature&amp; lf)</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="comment">//    {</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="comment">//        is.read( (char*)&amp;lf, sizeof(LabeledFeature) );</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="comment">//        if( is.fail() ) throw std::runtime_error();</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="comment">//    }</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="comment">// #######################################</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="comment">// #######################################</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="comment">// reading and writing split points</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keyword">inline</span> std::ostream&amp; operator &lt;&lt; ( std::ostream&amp; os, <span class="keyword">const</span> SplitPoint&amp; sp){</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          os&lt;&lt;sp.attribId&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;sp.threshold&lt;&lt;<span class="stringliteral">&quot;\n&quot;</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keywordflow">return</span> os;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keyword">inline</span> std::istream&amp; operator &gt;&gt; ( std::istream&amp; is, SplitPoint&amp; sp){</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          is &gt;&gt; sp.attribId &gt;&gt; sp.threshold;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          <span class="keywordflow">return</span> is;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="comment">// #######################################</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="comment">// #######################################</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="comment">// reading and writing info files</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> writeInfoFile( <span class="keyword">const</span> std::string&amp;   filename,</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                                   <span class="keywordtype">int</span>                  attribId,</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;                                   Attrib               threshold,</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                                   <span class="keywordtype">double</span>               gain,</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                                   <span class="keyword">const</span> HistogramPair&amp; HP){</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          std::ofstream fout(filename.c_str() );</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <span class="keywordflow">if</span>( !fout.is_open() ) <span class="keywordflow">throw</span> std::runtime_error(std::string(<span class="stringliteral">&quot;(E) could not open &quot;</span>) + filename );</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          fout&lt;&lt;int(attribId)&lt;&lt;<span class="stringliteral">&quot; &quot;</span>&lt;&lt;int(threshold)&lt;&lt;<span class="stringliteral">&quot;\n&quot;</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          fout&lt;&lt;gain&lt;&lt;<span class="stringliteral">&quot;\n&quot;</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          fout&lt;&lt;HP;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> readInfoFile( <span class="keyword">const</span> std::string&amp; filename,</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                                  <span class="keywordtype">int</span>&amp;               attribId,</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                                  Attrib&amp;            threshold,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                                  <span class="keywordtype">double</span>&amp;            gain,</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                                  HistogramPair&amp;     HP ) {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          std::ifstream fin(filename.c_str() );</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          <span class="keywordflow">if</span>( !fin.is_open() ) <span class="keywordflow">throw</span> std::runtime_error(std::string(<span class="stringliteral">&quot;(E) could not open&quot;</span>) + filename );</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          fin&gt;&gt;attribId &gt;&gt;threshold&gt;&gt;gain&gt;&gt;HP;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <span class="keywordflow">if</span>( fin.fail() ) <span class="keywordflow">throw</span> std::runtime_error(std::string(<span class="stringliteral">&quot;(E) malformed splitInfo file &quot;</span>) + filename );</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      } <span class="comment">// end namespace trees</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    } <span class="comment">// end namespace people</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  } <span class="comment">// end namespace gpu</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;} <span class="comment">// end namespace pcl</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="astructpcl_1_1_histogram_html"><div class="ttname"><a href="structpcl_1_1_histogram.html">pcl::Histogram</a></div><div class="ttdoc">A point structure representing an N-D histogram.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1475</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1people_1_1trees_1_1_histogram_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram.html">pcl::gpu::people::trees::Histogram</a></div><div class="ttdef"><b>Definition:</b> tree.h:101</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1people_1_1trees_1_1_histogram_pair_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1people_1_1trees_1_1_histogram_pair.html">pcl::gpu::people::trees::HistogramPair</a></div><div class="ttdef"><b>Definition:</b> tree_train.h:30</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_attrib_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_attrib.html">pcl::gpu::people::trees::LabeledAttrib</a></div><div class="ttdef"><b>Definition:</b> tree_train.h:63</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_feature_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1people_1_1trees_1_1_labeled_feature.html">pcl::gpu::people::trees::LabeledFeature</a></div><div class="ttdef"><b>Definition:</b> tree_train.h:71</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1people_1_1trees_1_1_split_point_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1people_1_1trees_1_1_split_point.html">pcl::gpu::people::trees::SplitPoint</a></div><div class="ttdef"><b>Definition:</b> tree_train.h:54</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_6b3ae6988449b0834e9596fad5d75199.html">gpu</a></li><li class="navelem"><a class="el" href="dir_e5641c6df7309ef6696d32985f7bc5a3.html">people</a></li><li class="navelem"><a class="el" href="dir_eae3e734657f8fad58182f452057b1ce.html">include</a></li><li class="navelem"><a class="el" href="dir_53ad551e5b3bb174d5ea82c5b585464b.html">pcl</a></li><li class="navelem"><a class="el" href="dir_ac5d6bee73c3ddc6b70dab316735b88b.html">gpu</a></li><li class="navelem"><a class="el" href="dir_f71212aed6773b99e74aced4f0a26314.html">people</a></li><li class="navelem"><b>tree_train.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
